From a5a3c9efc70c6cd3034a49d5ee3671bf059101ad Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 4 Jul 2024 08:03:08 -0700
Subject: [PATCH] Discard all keyframes when attaching models.

PiperOrigin-RevId: 649415647
Change-Id: Ie2defe248df7078684d987351985cb66bd754e5b
---
 src/user/user_model.cc   | 8 ++++++++
 src/user/user_objects.cc | 6 ++++++
 2 files changed, 14 insertions(+)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 50f37bf8..c1b1b3ae 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -1072,6 +1072,14 @@ void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
   elements.clear();
 }
 
+template <>
+void mjCModel::DeleteAll<mjCKey>(std::vector<mjCKey*>& elements) {
+  for (mjCKey* element : elements) {
+    delete element;
+  }
+  elements.clear();
+}
+
 // set nuser fields
 void mjCModel::SetNuser() {
   if (nuser_body == -1) {
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 4260da3c..6cbfa6e4 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -860,6 +860,9 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // attach referencing elements
   *model += *other.model;
 
+  // (b/350784262) delete keyframes
+  model->DeleteAll<mjCKey>(model->keys_);
+
   // clear namespace and return body
   other.model->prefix.clear();
   other.model->suffix.clear();
@@ -1598,6 +1601,9 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // attach referencing elements
   *model += *other.model;
 
+  // (b/350784262) delete keyframes
+  model->DeleteAll<mjCKey>(model->keys_);
+
   // clear suffixes and return
   other.model->suffix.clear();
   other.model->prefix.clear();